clear
% the order of breakpoints listed below is the order used in table lookup
% data.
MS=.01;% Max sample interval
global RG
MAX_PULSES=1;% max number of allowed pulses.  Only allow one pulse per iteration until LUTS are populated, otherwise we'll get noise out of the LUTS
RG=1000;% rounding gain
IFA=pi/2; % initial foot angle
IHA=0;% initial hip angle

[t,x]=sim('ipend4',.5);
